// Copyright 1996-2023 Cyberbotics Ltd.

//

// Licensed under the Apache License, Version 2.0 (the "License");

// you may not use this file except in compliance with the License.

// You may obtain a copy of the License at

//

// https://www.apache.org/licenses/LICENSE-2.0

//

// Unless required by applicable law or agreed to in writing, software

// distributed under the License is distributed on an "AS IS" BASIS,

// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

// See the License for the specific language governing permissions and

// limitations under the License.

#define WB_ALLOW_MIXING_C_AND_CPP_API

#include <webots/vacuum_gripper.h>

#include <webots/VacuumGripper.hpp>

using namespace webots;

void VacuumGripper::enablePresence(int sampling_period) {

wb_vacuum_gripper_enable_presence(getTag(), sampling_period);

}

void VacuumGripper::disablePresence() {

wb_vacuum_gripper_disable_presence(getTag());

}

int VacuumGripper::getPresenceSamplingPeriod() const {

return wb_vacuum_gripper_get_presence_sampling_period(getTag());

}

bool VacuumGripper::getPresence() const {

return wb_vacuum_gripper_get_presence(getTag());

}

bool VacuumGripper::isOn() const {

return wb_vacuum_gripper_is_on(getTag());

}

void VacuumGripper::turnOn() {

wb_vacuum_gripper_turn_on(getTag());

}

void VacuumGripper::turnOff() {

wb_vacuum_gripper_turn_off(getTag());

}